Yongping Ren and  Zongli Li and  Fan Zhang,  A New Nonlinear PID Controller and its Parameter Design.   journal   = {International Journal of Electrical and Information Engineering}, [online]. World Academy of Science, Engineering and Technology.
    December 2010, vol. 48(12). 1950 - 1955
    [viewed 20 April 2024]. Available from: https://publications.waset.org/pdf/5321.